Support apparatus for use in video imaging and processing of transverse fish sections

ABSTRACT

A processing apparatus for use in the processing of transverse fish body sections includes a support frame and a video camera for providing a video image of a transverse fish body section to be processed when aimed at the fish body section along a preselected line of sight. A fish section support is provided for supporting the transverse fish section substantially over its area. The support can be invisible on the video photo image and preferably includes a plurality of spaced apart beams which are of a small dimensional width so that they do not appear on the video photo image that contains the fish body sections. A fluid jetting knife is movable with respect to the transverse fish body section for cutting the section with a pressurized fluid stream and positioned to traverse both the fish section and the support means during the cutting operation.

This application is a continuation of application Ser. No. 049,730 filedMay 12, 1987 which issued as U.S. Pat. No. 4,748,724 issued Jun. 6,1988.

BACKGROUND OF THE INVENTION

The present invention relates to fish processing and more particularlyto an improved method and apparatus for processing transverse fish bodysections wherein a high intensity water jet knife traverses the fishsection using computer generated position information obtained fromvideo imaging such as a video camera, and wherein a support matrix suchas a multiplicity of knife blade beams supports the fish section duringhigh intensity water jet cutting. The beam system can have asufficiently small cross-section normal to the line of sight so that itdoes not interfere with imaging of the fish section. Alternately, adarkened beam support can be used which reflects little or no light andis thus "invisible" to the video camera.

In the processing of fish such as tuna, it is common to freeze a catchof fish at sea, and to process the catch on shore. The processingnormally involves manual operations of slicing the fish belly and theremoval of viscera. The visceral cavity is then washed with water, andthe tuna inspected for spoilage. The tuna is then usually cooked wholein a batch type procooking operation.

Manual prior art methods of processing tuna are described in greaterdetail in U.S. Pat. No. 3,594,191 issued to J. M. Lapeyre. That patentdiscloses cutting the tuna in lateral sections at spaced intervals andthereafter separating the edible loin portions to provide discretecannable portions. A later U.S. Pat. No. 3,593,370 entitled "Method ofButchering Tuna" issued to J. M. Lapeyre, describes a process forprocessing such transverse tuna sections while frozen. The method ofbutchering frozen tuna included the subdivision of the whole fish into aplurality of transverse cross-sections and subsequently subdividing thecross-sections into frozen segments. The junctures between the sectionswere along lines generally parallel to the longitudinal axis of the fishand to the skeletal structure thereof. Each lateral fish section wasskinned and the skinned sections were operated on to effect a separationof the scrap parts of the sections from the loin meat parts, while thelatter were still in at least a partially frozen condition.

U.S. Pat. No. 3,800,363 issued to J. M. Lapeyre entitled "TunaButchering Method and System" describes an automated butchering methodand system for separating the edible loin portions of transverse tunaslices provided by subdivision of a frozen whole tuna. Each transverseslice of the principal loin bearing section of a frozen tuna was scannedto produce electrical signals representative to the boundary between theedible loin portions and the contiguous waste meat portions. Controlsignals were then derived from the electrical signals for use in cuttingfor precise separation of the edible loin portions along the detectedboundary. A photosensor array scanner was arranged to reflect light fromthe surface of a tuna slice and a provided light source. Electricalsignals were provided by the sensor array of varying magnitude inaccordance with the varying reflectivity of the slice surface beingscanned. The electrical signals were processed by a threshold circuitwhich provided a threshold level above which signals were presumed to berepresentative of the lighter, edible loin portions and below which thesignals were presumed to be representative of the relatively darkerwaste meat portions. The transformation of scanner output signals intocontrol signals for the cutting apparatus was thought to be accomplishedby a special purpose electronic controller or a suitably programmedcomputer to provide cutting control signals. Electrical output signalswere also described as controlling operation of a cutting tool. Thecutting apparatus for cutting the loin portions along predeterminedboundaries was described as a high pressure water jet cutter whichtypically would operate at a pressure of about 30,000 to 75,000 psi andthe water jet cutter was described as typically being mounted upon amovable head.

U.S. Pat. No. 4,738,004 also issued to J. M. Lapeyre has some similarityto the Lepeyre U.S. Pat. Nos. 3,593,370 and 3,800,363, but is primarilydirected toward cooking or partial cooking of the transverse fishsection prior to visual imaging so as to enhance the boundaries betweenthe loin portions and blood-meat portions of the transverse fishsection.

U.S. Pat. Nos. 3,594,191; 3,593,370; 3,800,363 and 4,738,004 are herebyincorporated herein by reference.

One of the problems not addressed in the above Lapeyre patents was theproblem of supporting the transverse or lateral fish sections, whenprocessing used a high speed, high pressure water jet cutting apparatus.Water jet knives typically employ a very high speed jet of pressurizedwater or like fluid which operates at a water pressure of up to 75,000psi. When water jet cutters strike the transverse fish body section,there is a need to support the fish body section against the enormousforce of the water jet knife, yet at the same time hold the lateral fishbody section precisely so that error and waste are minimized. In short,the transverse fish body section must be precisely yet firmly supportedduring the cutting operation.

Another problem involves that portion of the water jet which travelsdownstream of the fish body section after the water jet passes throughthe fish body section removing a very small portion of the fish as thecutting progresses. The cut material and the high speed water wouldtravel for many, many feet downstream of the target and would create ahazardous and messy condition if not controlled.

Yet another problem in processing fish relates to the video image whichmust be taken of the fish section. The knife must be precisely moved tocut the edible loin portions of the fish from the waste or lesserdesirable portions thereof. A video image can be used but only the fishsection needs to appear in the image. Any image other than the fishsection causes confusion and error. In order to prevent the giving offalse image information to the water jet knife, the fish body sectionmust be photographed by a video camera and yet the support mechanism forthe fish body section cannot interfere with that image created. Whenusing a water jet knife, a high speed, high pressure water jet traversesthe fish section. The water jet knife will desirably penetrate the fishsection very quickly yet must continue downstream of the fish sectionunobstructed so that deflected water from the jet stream will not hitthe fish section in an uncontrolled fashion that might move the fishsection with respect to the knife destroying the precision of theoperation and/or damaging the edible loin portion of the fish sectionduring the process. The support mechanism for the fish body section mustbe precise, yet rugged, and preferably movable between the camera andwater jet positions.

SUMMARY OF THE PRESENT INVENTION

The present invention solves these problems in a simple, straightforwardyet precise and rugged manner. The present invention provides aphoto-imaging apparatus for use in processing transverse fish bodysections that includes a support frame, a video camera for providingimaging of a transverse fish body section to be processed when aimed atthe transverse fish body section along a preselected line of sight. Afish section support is provided to support to the transverse fishsection substantially over its entire area and has a section normal tothe line of sight sufficiently small so that it does not appear on thevideo image of the fish body section. A water jet knife is relativelymovable with respect to the transverse fish body section for cutting thesection with a pressurized fluid stream and is positioned to traverseboth the fish section and the support matrix. Although its method ofsupporting the transverse fish section could include other techniquessuch as a bed of pins or nails, or even vacuumized suction cups, thesupport matrix of one preferred embodiment includes multiple spacedapart beams, each extending transversely and substantially across thefish body section being processed. The fish body section being processedis therefore positioned between the imaging camera and the beams duringprocessing. The beams are preferably non-parallel so that the fishsection will not slide or move during the water jetting. Each blade ispreferably made of stainless steel and has a sharp edge and a relativelythin thickness, but sufficient depth to provide stiffness and rigidityto withstand repeated blasts of the water jet knife over a long periodof time. The fluid jetting knife is preferably a water jet knife. Theapparatus further includes a dissipating receptacle positioneddownstream of the fish body section from the knife for dissipating thepressurized fluid stream and any contained fish section cuttings. Thedissipating receptacle preferably includes a rectangular receptaclehaving a bottom with side walls and an open top and containing aplurality of ball bearings (typically stainless steel) that aresupported within the receptacle downstream of the transverse fish bodysection. In the preferred embodiment, the bottom of the dissipatingreceptacle also includes a suction drain to prevent the collection ofany water. A screen is provided for viewing the photo-image generated bythe imaging means both before and during cutting of the fish bodysection with the knife.

BRIEF DESCRIPTION OF THE DRAWINGS

A better understanding of the invention can be had when the detaileddescription of a preferred embodiment set forth below is considered inconjunction with the drawings, in which:

FIG. 1 is a side elevational view of the preferred embodiment of theapparatus of the present invention;

FIG. 2 is a partial perspective view of the preferred embodiment of theapparatus of the present invention;

FIG. 3 is a partial plan view of the preferred embodiment of theapparatus of the present invention; and

FIG. 4 is a partial sectional elevational view of the preferredembodiment of the apparatus of the present invention taken along lines4--4 of FIG. 3.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

FIGS. 1 through 4 show generally the preferred embodiment of theapparatus of the present invention designated generally by the numeral10.

Apparatus 10 includes a frame 11 having a plurality of support legs 12attached to a lower base portion 13. A superstructure enclosure 14extends above base 13 and houses a video camera 15 which is used toproduce a video image of a transverse fish body section to be processedwhen the video camera is aimed at the fish body section along apreselected line of sight. A plurality of photo flood lights includingupper light array 16 and lower light array 17 are adjustably mountedwithin enclosure 14 to control the light intensity which illuminates aparticular fish body section for video imaging of the fish body section.A dark colored pivotally mounted door can be used to shut out room lightfrom the bottom of enclosure 14, and to provide an invisible backgroundto the camera. The door would be pivotally mounted so that it could beeasily cleaned. The door is shown in phantom lines in FIG. 1, designatedby the letter "D." Computer 18 would have a computer program, forexample, which interfaces the video image of a particular fish bodysection with a cutting apparatus, described hereinafter, so that theedible loin portions of the fish body sections are separated from thebloodmeat, viscera, and backbone portions thereof. Communication lines19 as needed interface the video camera 15, water jet cutting apparatus42, and computer 18. In FIG. 1, phantom lines 20 indicate generally theline of sight between camera 15 and the fish body section beingprocessed.

The fish body section 30 to be processed is moved between two knownpositions including a first position under the video camera 15 and alongthe line of sight 20 (FIG. 1), and to a second position laterallyremoved from the line of sight 20 wherein the fish body section can beprocessed using a water jet knife (FIG. 2), as will be described morefully hereinafter. A runway in the form of a pair of spaced apart rails21, 22 is provided upon base 13. A moving carriage 23, preferablywheeled or sliding, is mounted upon rails 21, 22. The carriage includesa pair of spaced apart main longitudinal carriage beams 24, 25, and aplurality of smaller, thin transverse knife edge beams 26. Thetransverse knife edge beams would preferably be non-parallel and of aslight "S" curved shape (FIGS. 2, 3) so that the fish body section willnot slide or shift during the cutting operation. Additionally,transverse rods 27, 28 are provided for structurally transverselyreinforcing carriage 23. In the embodiment shown, carriage 23 includes aplurality of wheels 29 so that it can move upon rails 21, 22, betweenthe first position under camera 15 and along line of sight 20, and tothe second position removed therefrom as shown in FIGS. 1, 2 and 4. Thetransverse fish body section to be processed is designated by thenumeral 30 in the drawings. Fish body section 30 includes an uppersurface 31, and a lower surface 32. The fish body section 30 wouldnormally be processed to harvest four edible loin portions 33 and toseparate therefrom the darker bloodmeat portion 34 and the backbone 35portion.

Movement of carriage 23 between the known position of the video camera15, and the water jet cutting apparatus 42 upon rails 21, 22 can beguided using guide bar 36 and fluid powered sleeve 37. A support 38 isprovided for guide bar 36. A simple pneumatic piston and cylinderarrangement could be used to power carriage 23 upon rails 21, 22, ormanual movement could be achieved by gripping sleeve 37 and moving itbetween the end portions of rails 21, 22 with stops 38, for example,being provided at the ends of guide bar 36, thus indexing the positionof carriage 23 under camera 15 and line of sight 20 as well as under thewater jet knife.

A receptacle 40 is positioned under transverse fish body section 30 atthe cutting or processing position which is shown in hard lines in FIG.2. Receptacle 40 includes a plurality of ball bearings 41 (typicallystainless steel) and as shown in FIG. 4, a water jet stream 50 whichpasses through fish body section 30 would be dispersed into a pluralityof smaller streams 52, thus preventing any danger of inadvertentredirecting or ricocheting of the stream 50. The water jet knifeapparatus is designated generally the numeral 42 in FIG. 1 and includesa base 45 supporting a pair of robot arm sections 46, 47 with a waterjet 48 having a lower nozzle 49 portion through which a small highpressurized stream 50 of water is shot. Water jet robot 42 is acommercially available cutting mechanism, and in the embodimentdiscussed, the transverse fish section is not allowed to move as thewater jet moves about the section. However, it will be appreciated thatthe water jet knife could be rigidly maintained in a set position as thefish section is precisely moved under the water jet knife. Relativemotion between the water jet knife and the fish section is required.

In operation, the carriage 23 would first be moved under the camera 15in the position shown in FIG. 1 and under the line of sight 20. Fishbody section 30 would then be viewed with the camera 15 producing animage. The image would contain the darker bloodmeat portion 34 (see FIG.3) and the lighter loin portion 33, as well as the darker viscera cavity39. In addition, although the backbone 35 is not typically visible, itslocation can be estimated. The computer could then be used to preciselycontrol relevant movement between the water jet knife and the darkerbloodmeat portions 34, the bone 35, and the viscera 39, thus leaving theedible loin 33 portions for packaging. The skin (not shown) could alsobe removed with the water jet knife or optionally could be removed in amanual procedure prior or subsequent to cutting with the water jetknife.

The foregoing description of the invention is illustrative andexplanatory thereof, and various changes in the size, shape andmaterials, as well as in the details of the illustrated construction maybe made without departing from the spirit of the invention.

What is claimed as invention is:
 1. Processing apparatus for separatingselected portions of a transverse fish body section comprising:a visualstation having a known location and further having a photo-imaging meansfor providing a visual image of said transverse fish body section whenviewed along a preselected line of sight, said .[.imaging.]..Iadd.photo-imaging .Iaddend.means defining the selected portions ofsaid fish body section; a cutting station using a pressurized fluidstream for separating selected portions of said fish body section asdefined by said photo-imaging means; a plurality of means for supportingsaid transverse fish section substantially over its area, each of said.[.(means for supporting).]. plurality being substantially invisible tosaid photo-imaging means and being suitable for receiving saidpressurized fluid stream such that the fluid stream can .[.transverse.]..Iadd.traverse .Iaddend.the fish body section and said plurality ofmeans for supporting without substantially altering the position of saidfish section with respect to said means for .[.support.]..Iadd.supporting.Iaddend., and further for moving from said knownlocation of said visual station to a cutting station having anotherknown location; and means for controlling the relative movement of thepressurized fluid stream with respect to the transverse fish bodysection.
 2. The processing apparatus of claim 1 wherein said means forsupporting comprises a carriage for moving on a runway between said.[.imaging.]. .Iadd.visual .Iaddend.station and said cutting station. 3.The processing apparatus of claim 2 wherein said runway comprises aguide rail and said carriage includes a member for cooperating with saidguide rail.
 4. The processing apparatus of claim 1 wherein said meansfor supporting includes multiple spaced beams.
 5. The processingapparatus of claim 1 wherein said selected portions of said fish bodysection defined by said .[.imaging.]. .Iadd.photo-imaging .Iaddend.means.[.includes.]. .Iadd.include .Iaddend.the loin and blood meat portions.6. The processing apparatus of claim 5 wherein said selected portions ofsaid fish body section defined by said .[.imaging.]. .Iadd.photo-imagingmeans further .[.includes.]. .Iadd.includes .Iaddend.the skin.
 7. Theprocessing apparatus of claim 6 wherein said selected portions of saidfish body section defined by said .[.imaging.]. .Iadd.photo-imaging.Iaddend.means further .[.includes.]. .Iadd.include .Iaddend.the bones.8. The processing apparatus of claim 1 wherein said selected portions ofsaid fish body section defined by said .[.imaging.]. .Iadd.photo-imaging.Iaddend.means .[.includes.]. .Iadd.include .Iaddend.the skin and loinportions.
 9. The processing apparatus of claim 1 wherein said selectedportions of said fish body section defined by said .[.imaging.]..Iadd.photo-imaging means further .[.includes.]. .Iadd.include.Iaddend.the bones and loin portions.
 10. The processing apparatus ofclaim 1 wherein said selected portions of said fish body section definedby said .[.imaging.]. .Iadd.photo-imaging means further .[.includes.]..Iadd.include .Iaddend.the bones and blood meat portions. .Iadd.11.Processing apparatus for separating selected portions of a transversefish body section comprising:a visual station having a known locationand further having a photo-imaging means for providing a visual image ofsaid transverse fish body section when viewed along a preselected lineof sight, said photo-imaging means defining the selected portions ofsaid fish body section; a cutting station using a pressurized fluidstream for separating selected portions of said fish body section asdefined by said photo-imaging means; means for supporting saidtransverse fish section substantially over its area, said means forsupporting being suitable for receiving said pressurized fluid streamsuch that the fluid stream can cut the fish body section substantiallyover its area and also over the area of said means for supporting andwithout substantially altering the position of said fish section withrespect to said means for supporting; transport means for moving fromsaid known location of said visual station to a cutting station havinganother known location; and means for controlling the relative movementof the pressurized fluid stream with respect to the transverse fish bodysection. .Iaddend. .Iadd.12. The processing apparatus of claim 11wherein said means for supporting includes a carrier for moving on arunway between said visual station and said cutting station. .Iaddend..Iadd.13. The processing apparatus of claim 11 wherein said selectedportions of said fish body section defined by said photo-imaging meansinclude the loin and blood meat portions. .Iaddend. .Iadd.14. Theprocessing apparatus of claim 11 wherein said selected portions of saidfish body section defined by said photo-imaging means further includethe skin. .Iaddend. .Iadd.15. The processing apparatus of claim 11wherein said selected portions of said fish body section defined by saidphoto-imaging means further include the bones. .Iaddend. .Iadd.16.Processing apparatus for separating selected portions of a transversefish body section comprising: a visual station having a photo-imagingmeans for providing a visual image of said transverse fish body sectionwhen viewed along a preselected line of sight, said photo-imaging meansdefining the selected portions of said fish body section; a cuttingstation using a pressurized fluid stream for separating selectedportions of said fish body section as defined by said photo-imagingmeans; means for supporting said transverse fish section substantiallyover its area, said means for supporting being suitable for receivingsaid pressurized fluid stream such that the fluid stream can cut thefish body section substantially over its area and also over the area ofsaid means for supporting and without substantially altering theposition of said fish section with respect to said means for supporting;means for moving the transverse fish section relative to said visualstation and relative to the cutting station; and means for controllingthe relative movement of the pressurized fluid stream with respect tothe transverse fish body section. .Iaddend. .Iadd.17. The processingapparatus of claim 16 wherein said means for supporting includes acarrier for moving on a runway between said visual station and saidcutting station. .Iaddend. .Iadd.18. The processing apparatus of claim16 wherein said selected portions of said fish body section defined bysaid photo-imaging means includes the loin and blood meat portions..Iaddend. .Iadd.19. The processing apparatus of claim 16 wherein saidselected portions of said fish body section defined by saidphoto-imaging means further include the skin. .Iaddend. .Iadd.20. Theprocessing apparatus of claim 16 wherein said selected portions of saidfish body section defined by said photo-imaging means further includethe bones.